version: 66.09
glider: 166
mission: 6
dive: 408
start: 10 20 111 11 53 32
data:
$ID,166
$MISSION,6
$DIVE,408
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,240
$T_MISSION,270
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,240
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24920.361
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,20
$C_ROLL_DIVE,1610
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2884
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.509327
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004315557
$SEABIRD_T_H,0.00063223497
$SEABIRD_T_I,2.3993638e-05
$SEABIRD_T_J,2.5696888e-06
$SEABIRD_C_G,-9.9842854
$SEABIRD_C_H,1.1210135
$SEABIRD_C_I,-0.0013500623
$SEABIRD_C_J,0.00018873326
$GPS1,201011,114526,2334.121,12337.458,32,99.0,51,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.8
$GPS2,201011,115306,2334.145,12337.524,44,1.9,55,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2328.746,12327.327
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,243.3,20000,-16.7,-13.750
$D_GRID,3195
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.73,-292.0,0.0,0.0,0,133,0.00,0.00,-113.88,0.000,2,0.000,0.000,142,1597,3171,0,0,0,0,0,0
$GC,136,-0.73,-292.0,6.3,-10.8,16,167,9.30,1.10,-14.65,0.000,4,0.220,0.073,2493,2299,3964,0,0,0,0,0,0
$GC,348,-0.65,-292.0,76.0,-22.7,54,357,0.12,1.02,0.00,0.000,6,0.148,0.038,2532,1602,3965,0,0,0,0,0,0
$GC,674,-0.59,-292.0,143.1,-18.2,115,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1602,3966,0,0,0,0,0,0
$GC,1001,-0.56,-292.0,203.5,-18.8,176,1010,0.10,1.05,0.00,0.000,4,0.176,0.045,2556,2291,3967,0,0,0,0,0,0
$GC,1077,-0.58,-292.0,215.0,-13.3,189,1085,0.00,1.00,0.00,0.000,6,0.000,0.040,2556,1621,3966,0,0,0,0,0,0
$GC,1408,-0.60,-292.0,252.3,-10.4,249,1412,0.00,1.00,0.00,0.000,4,0.000,0.047,2553,2290,3966,0,0,0,0,0,0
$GC,1534,-0.64,-292.0,264.4,-9.0,260,1538,0.00,1.02,0.00,0.000,6,0.000,0.042,2553,1605,3966,0,0,0,0,0,0
$GC,1869,-0.67,-292.0,297.5,-10.6,291,1873,0.00,1.05,0.00,0.000,4,0.000,0.047,2548,2292,3966,0,0,0,0,0,0
$GC,1977,-0.72,-292.0,309.4,-10.2,300,1984,0.08,1.02,0.00,0.000,6,0.050,0.041,2477,1609,3965,0,0,0,0,0,0
$GC,2302,-0.67,-292.0,368.2,-17.3,331,2307,0.17,1.05,0.00,0.000,4,0.151,0.050,2525,2288,3965,0,0,0,0,0,0
$GC,2353,-0.69,-292.0,375.1,-11.6,335,2359,0.00,1.02,0.00,0.000,6,0.000,0.044,2525,1609,3965,0,0,0,0,0,0
$GC,2679,-0.71,-292.0,408.9,-10.8,366,2683,0.00,1.02,0.00,0.000,4,0.000,0.049,2520,2289,3963,0,0,0,0,0,0
$GC,2748,-0.74,-292.0,416.2,-10.6,372,2751,0.00,1.02,0.00,0.000,6,0.000,0.044,2520,1607,3963,0,0,0,0,0,0
$GC,3079,-0.75,-292.0,457.4,-12.3,403,3083,0.00,1.05,0.00,0.000,4,0.000,0.050,2516,2290,3961,0,0,0,0,0,0
$GC,3163,-0.78,-292.0,467.1,-10.7,410,3170,0.00,1.02,0.00,0.000,6,0.000,0.044,2516,1616,3960,0,0,0,0,0,0
$GC,3491,-0.80,-292.0,504.8,-11.6,441,3494,0.00,1.02,0.00,0.000,4,0.000,0.052,2512,2283,3958,0,0,0,0,0,0
$GC,3586,-0.82,-292.0,515.0,-10.0,449,3593,0.08,1.02,0.00,0.000,6,0.054,0.044,2456,1607,3957,0,0,0,0,0,0
$GC,3911,-0.77,-292.0,565.9,-17.0,480,3915,0.15,1.05,0.00,0.000,4,0.164,0.054,2499,2278,3955,0,0,0,0,0,0
$GC,3949,-0.76,-292.0,572.0,-14.7,483,3956,0.00,1.02,0.00,0.000,6,0.000,0.045,2500,1604,3954,0,0,0,0,0,0
$GC,4285,-0.76,-292.0,617.7,-13.7,509,4289,0.00,1.05,0.00,0.000,4,0.000,0.055,2495,2279,3951,0,0,0,0,0,0
$GC,4391,-0.76,-292.0,631.8,-11.9,513,4398,0.00,1.02,0.00,0.000,6,0.000,0.047,2497,1609,3950,0,0,0,0,0,0
$GC,4710,-0.76,-292.0,671.3,-12.5,529,4714,0.00,1.05,0.00,0.000,4,0.000,0.056,2496,2284,3948,0,0,0,0,0,0
$GC,4794,-0.76,-292.0,681.9,-11.7,532,4801,0.00,1.02,0.00,0.000,6,0.000,0.047,2497,1612,3947,0,0,0,0,0,0
$GC,5113,-0.76,-292.0,721.8,-12.6,548,5117,0.00,1.05,0.00,0.000,4,0.000,0.057,2493,2284,3945,0,0,0,0,0,0
$GC,5181,-0.76,-292.0,730.2,-11.8,551,5185,0.00,1.02,0.00,0.000,6,0.000,0.049,2494,1616,3945,0,0,0,0,0,0
$GC,5514,-0.76,-292.0,771.9,-12.6,567,5518,0.00,1.05,0.00,0.000,4,0.000,0.059,2490,2285,3941,0,0,0,0,0,0
$GC,5566,-0.76,-292.0,778.1,-11.9,569,5570,0.00,1.05,0.00,0.000,6,0.000,0.050,2490,1606,3940,0,0,0,0,0,0
$GC,5894,-0.76,-292.0,819.8,-13.1,585,5898,0.00,1.05,0.00,0.000,4,0.000,0.060,2486,2275,3939,0,0,0,0,0,0
$GC,5927,-0.76,-292.0,824.4,-13.3,586,5930,0.00,1.02,0.00,0.000,6,0.000,0.049,2486,1610,3938,0,0,0,0,0,0
$GC,6250,-0.76,-292.0,869.5,-14.5,602,6254,0.00,1.05,0.00,0.000,4,0.000,0.063,2481,2277,3936,0,0,0,0,0,0
$GC,6311,-0.76,-292.0,878.7,-13.8,604,6318,0.00,1.02,0.00,0.000,6,0.000,0.050,2481,1611,3935,0,0,0,0,0,0
$GC,6630,-0.76,-292.0,923.6,-14.0,620,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1611,3933,0,0,0,0,0,0
$GC,6937,-0.76,-292.0,964.6,-12.7,635,6941,0.00,1.05,0.00,0.000,4,0.000,0.063,2476,2275,3931,0,0,0,0,0,0
$GC,6983,-0.76,-292.0,970.3,-12.2,637,6987,0.00,1.02,0.00,0.000,6,0.000,0.053,2476,1617,3931,0,0,0,0,0,0
$STATE,7149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7149,begin apogee
$GC,7157,-0.11,0.0,992.1,13.0,645,7391,0.70,0.00,226.10,1.430,6,0.128,0.000,2700,1760,2883,0,0,0,0,0,0
$STATE,7396,end apogee,CONTROL_FINISHED_OK
$STATE,7396,begin climb
$GC,7398,0.73,292.0,1003.1,0.0,656,7677,0.75,1.15,267.83,1.377,4,0.054,0.066,2984,2471,1692,0,0,0,0,0,0
$GC,7845,0.70,292.0,940.4,16.6,676,7852,0.00,1.10,0.00,0.000,6,0.000,0.053,2988,1779,1688,0,0,0,0,0,0
$GC,8163,0.65,292.0,885.1,17.5,692,8165,0.12,0.00,0.00,0.000,6,0.176,0.000,2957,1779,1685,0,0,0,0,0,0
$GC,8470,0.64,292.0,839.9,14.0,707,8474,0.00,1.08,0.00,0.000,4,0.000,0.055,2961,1075,1684,0,0,0,0,0,0
$GC,8512,0.62,292.3,834.4,13.7,708,8518,0.00,1.10,0.00,0.000,6,0.000,0.050,2959,1780,1684,0,0,0,0,0,0
$GC,8828,0.60,292.3,791.3,13.9,724,8831,0.00,1.08,0.00,0.000,4,0.000,0.058,2959,2483,1683,0,0,0,0,0,0
$GC,8867,0.60,292.3,785.5,14.0,725,8874,0.00,1.10,0.00,0.000,6,0.000,0.049,2962,1774,1682,0,0,0,0,0,0
$GC,9186,0.59,292.3,741.0,14.0,741,9190,0.00,1.08,0.00,0.000,4,0.000,0.054,2968,1066,1681,0,0,0,0,0,0
$GC,9236,0.57,292.3,733.3,14.6,743,9240,0.10,1.12,0.00,0.000,6,0.142,0.049,2931,1791,1681,0,0,0,0,0,0
$GC,9567,0.66,354.3,695.1,11.8,759,9627,0.00,0.00,57.95,1.252,6,0.000,0.000,2931,1791,1438,0,0,0,0,0,0
$GC,9932,0.76,412.6,651.1,11.9,777,9996,0.17,1.20,53.75,1.200,4,0.073,0.050,3022,1065,1201,0,0,0,0,0,0
$GC,10020,0.72,412.6,634.8,19.5,781,10025,0.12,1.12,0.00,0.000,6,0.142,0.047,2984,1783,1200,0,0,0,0,0,0
$GC,10349,0.72,412.6,580.9,15.7,802,10353,0.00,1.10,0.00,0.000,4,0.000,0.050,2987,1066,1198,0,0,0,0,0,0
$GC,10375,0.72,412.6,576.6,15.9,804,10379,0.00,1.10,0.00,0.000,6,0.000,0.044,2984,1786,1197,0,0,0,0,0,0
$GC,10705,0.72,412.6,527.8,14.5,835,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1786,1197,0,0,0,0,0,0
$GC,11028,0.72,412.6,481.7,14.9,865,11031,0.00,1.10,0.00,0.000,4,0.000,0.047,2988,1063,1195,0,0,0,0,0,0
$GC,11079,0.72,412.6,473.6,14.5,869,11085,0.00,1.10,0.00,0.000,6,0.000,0.043,2984,1785,1194,0,0,0,0,0,0
$GC,11406,0.74,427.2,430.8,13.3,900,11424,0.00,0.00,13.30,0.971,6,0.000,0.000,2984,1785,1141,0,0,0,0,0,0
$GC,11743,0.80,463.7,384.4,12.6,932,11780,0.00,1.10,33.35,0.989,4,0.000,0.044,2988,1065,992,0,0,0,0,0,0
$GC,11820,0.91,535.1,375.6,11.5,938,11891,0.12,1.10,65.45,0.978,6,0.048,0.042,3063,1786,701,0,0,0,0,0,0
$GC,12212,0.87,535.1,290.9,21.2,974,12216,0.15,1.02,0.00,0.000,4,0.161,0.051,3018,2478,690,0,0,0,0,0,0
$GC,12347,0.96,585.9,271.8,12.1,986,12398,0.00,1.08,46.85,0.885,6,0.000,0.042,3019,1764,495,0,0,0,0,0,0
$GC,12716,1.06,625.5,226.2,12.5,1038,12735,0.20,1.05,12.68,0.768,4,0.063,0.043,3130,1075,453,0,0,0,0,0,0
$GC,12784,1.00,625.5,210.9,25.6,1049,12793,0.17,1.05,0.00,0.000,6,0.141,0.041,3072,1779,449,0,0,0,0,0,0
$GC,13112,0.98,625.5,143.8,19.9,1110,13120,0.00,1.02,0.00,0.000,4,0.000,0.047,3066,2477,442,0,0,0,0,0,0
$GC,13198,1.00,625.5,129.1,15.2,1125,13206,0.00,1.05,0.00,0.000,6,0.000,0.039,3067,1772,441,0,0,0,0,0,0
$GC,13523,1.02,625.5,81.2,14.2,1186,13531,0.00,1.02,0.00,0.000,4,0.000,0.044,3071,1077,436,0,0,0,0,0,0
$GC,13611,1.04,625.5,68.2,14.0,1202,13619,0.00,1.02,0.00,0.000,6,0.000,0.036,3068,1782,436,0,0,0,0,0,0
$GC,13939,1.24,735.0,32.4,10.3,1263,13948,0.20,1.08,0.00,0.000,4,0.060,0.040,3182,1074,433,0,0,0,0,0,0
$GC,14057,1.18,735.0,7.5,24.5,1284,14066,0.17,1.02,0.00,0.000,6,0.139,0.036,3124,1782,433,0,0,0,0,0,0
$STATE,14072,end climb,SURFACE_DEPTH_REACHED
$STATE,14072,begin surface coast
$FINISH,1.3,1.010849
$STATE,14085,end surface coast,CONTROL_FINISHED_OK
$STATE,14085,begin surface
$SM_CCo,14163,0.00,0.000,0,0,432,601.48
$SM_GC,2.05,7.70,0.00,0.00,0.039,0.000,0.000,147,1608,432,-8.03,-0.06,601.48,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12338.80,201011,070734
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.45
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.60
$XPDR_PINGS,115
$24V_AH,23.0,99.711
$10V_AH,9.7,68.465
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.700,61.775,777.250,0.000,0.000,31.157,39.259,185.999,28.750,0.000,60.378,3039.705,7045.363,777.419,3290.728,455.466,0.000,2109.121,0.000,2983.900,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,74.205,1429.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,878.165,1319.236,1453.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330424
$DATA_FILE_SIZE,73672,1288
$CAP_FILE_SIZE,159072,0
$CFSIZE,260165632,110968832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201011,155106,2333.096,12336.927,40,1.5,52,-3.3